/*
 * AnglePID.h
 *
 *  Created on: 28.12.2012
 *      Author: Michael & Aleix
 */

#ifndef ANGLEPID_H_
#define ANGLEPID_H_

class AnglePID {
public:
	AnglePID();
	virtual ~AnglePID();
	void run();
	void resetPID();
	float P;
	float I;
	float D;
private:
	float pre_error_a;
	float integral_a;
	float output_a;
	long long last;
};

#endif /* ANGLEPID_H_ */
